GM: Cadillac ATS Coupe 2018 support (commaai#445)

vntarasov · klaus385 · commit 5d14e394507f · 2018-12-25T12:56:47.000-07:00
* GM: Cadillac ATS Coupe 2018 support

* Missed adding Cadillac ATS
diff --git a/README.md b/README.md
@@ -62,6 +62,7 @@ Supported Cars
 | ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
 | Acura                | ILX 2016-17             | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
 | Acura                | RDX 2018                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Cadillac<sup>3</sup> | ATS 2018                | Adaptive Cruise      | yes     | yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Malibu 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | GMC<sup>3</sup>| Acadia Denali 2018            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -10,7 +10,7 @@
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
-    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
       self.STEER_MAX = 300
       self.STEER_STEP = 2              # how often we update the steer cmd
       self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
 
-      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
         can_sends.append(gmcan.create_steering_control(self.packer_pt,
           canbus.powertrain, apply_steer, idx, lkas_enabled))
       if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
     ### GAS/BRAKE ###
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
       # no output if not enabled, but keep sending keepalive messages
       # treat pedals as one
       final_pedal = actuators.gas - actuators.brake
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
@@ -31,11 +31,11 @@ def get_powertrain_can_parser(CP, canbus):
     ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
   ]
 
-  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
+  if CP.carFingerprint == CAR.VOLT:
     signals += [
       ("RegenPaddle", "EBCMRegenPaddle", 0),
     ]
-  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
     signals += [
       ("TractionControlOn", "ESPStatus", 0),
       ("EPBClosed", "EPBStatus", 0),
@@ -120,13 +120,13 @@ def update(self, pt_cp):
     self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
     self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
       self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
       self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
       self.acc_active = False
       self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
       self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+      if self.car_fingerprint == CAR.VOLT:
         self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
       else:
         self.regen_pressed = False
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -106,6 +106,15 @@ def get_params(candidate, fingerprint):
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
 
+    elif candidate == CAR.CADILLAC_ATS:
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.mass = 1601 + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.78
+      ret.steerRatio = 15.3
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.49
+
     elif candidate == CAR.CADILLAC_CT6:
       # engage speed is decided by pcm
       ret.minEnableSpeed = -1
@@ -275,7 +284,7 @@ def update(self, c):
     if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
       if self.CS.brake_error:
         events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
       if not self.CS.gear_shifter_valid:
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
@@ -22,7 +22,7 @@
 def create_radard_can_parser(canbus, car_fingerprint):
 
   dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
     # C1A-ARS3-A by Continental
     radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
     signals = zip(['FLRRNumValidTargets',
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
@@ -6,6 +6,7 @@
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
+  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
   CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
   ACADIA = "GMC ACADIA DENALI 2018"
@@ -38,7 +39,7 @@ class CM:
 
 def is_eps_status_ok(eps_status, car_fingerprint):
   valid_eps_status = []
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
     valid_eps_status += [0, 1]
   elif car_fingerprint == CAR.CADILLAC_CT6:
     valid_eps_status += [0, 1, 4, 5, 6]
@@ -70,6 +71,11 @@ def parse_gear_shifter(can_gear):
   {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   }],
+  CAR.CADILLAC_ATS: [
+  # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
   CAR.CADILLAC_CT6: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
   }],
@@ -92,6 +98,7 @@ def parse_gear_shifter(can_gear):
   CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
 }
 
@@ -100,5 +107,6 @@ def parse_gear_shifter(can_gear):
   CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }
